我正在制作一辆小车,由Wemos D1板控制。为了设置WiFi连接和控制逻辑,我正在运行这个脚本:
#include <ESP8266WiFi.h>
const char* pass = "**********";
const char* ssid = "**********";
IPAddress ip(192,168,1,91);
IPAddress gat(192,168,1,1);
IPAddress dns(192,168,1,1);
IPAddress sub(255,255,255,0);
WiFiServer s(2000);
int inA1 = 1;
int inA2 = 2;
int enA = 3;
int inB1 = 4;
int inB2 = 5;
int enB = 6;
int trigger = 7;
int echo = 8;
double vSuono = 343; //Unità di misura: m/s
int speed = 255;
void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
WiFi.config(ip,gat,sub,dns);
WiFi.begin(ssid,pass);
delay(500);
while(WiFi.status() != WL_CONNECTED){
delay(500);
Serial.println(".");
}
Serial.println("Connected!");
delay(30);
s.begin();
Serial.println("Server running!");
delay(30);
//Here starts the problems
pinMode(inA1,OUTPUT);
pinMode(inA2,OUTPUT);
pinMode(enA,OUTPUT);
pinMode(inB1,OUTPUT);
pinMode(inB2,OUTPUT);
pinMode(enB,OUTPUT);
pinMode(trigger,OUTPUT);
pinMode(echo,INPUT);
delay(500);
}
void loop() {
// put your main code here, to run repeatedly:
WiFiClient c = s.available();
delay(30);
if(c){
Serial.println("New client connected!");
delay(3);
while(c.connected()){
if(c.available()){
String command = c.readStringUntil('\n');
if(command == "forward"){
Serial.println("forward");
forward(speed);
}else if(command == "right"){
Serial.println("right");
right(speed);
}else if(command == "left"){
Serial.println("left");
left(speed);
}else{
Serial.println("back");
back(speed);
}
}
delay(30);
}
c.stop();
}
}
void forward(int velocita){
digitalWrite(inA1,HIGH);
digitalWrite(inA2,LOW);
digitalWrite(inB1,HIGH);
digitalWrite(inB2,LOW);
analogWrite(enA,velocita);
analogWrite(enB,velocita);
}
void left(int velocita){
digitalWrite(inA1,HIGH);
digitalWrite(inA2,LOW);
digitalWrite(inB1,LOW);
digitalWrite(inB2,HIGH);
analogWrite(enA,velocita);
analogWrite(enB,velocita);
}
void right(int velocita){
digitalWrite(inA1,LOW);
digitalWrite(inA2,HIGH);
digitalWrite(inB1,HIGH);
digitalWrite(inB2,LOW);
analogWrite(enA,velocita);
analogWrite(enB,velocita);
}
void back(int velocita){
digitalWrite(inA1,LOW);
digitalWrite(inA2,HIGH);
digitalWrite(inB1,LOW);
digitalWrite(inB2,HIGH);
analogWrite(enA,velocita);
analogWrite(enB,velocita);
}
void stop(){
digitalWrite(inA1,LOW);
digitalWrite(inA2,LOW);
digitalWrite(inB1,LOW);
digitalWrite(inB2,LOW);
}
问题在于当板子执行setup()块中的pinMode函数时,板子停止了执行,崩溃并重新启动,我无法ping通板子。 如果我注释掉setup()块中所有pinMode调用的部分,程序开始工作,但显然我无法使用引脚。 在板子崩溃时,在串行监视器上出现如下信息:
ets Jan 8 2013,rst cause:4, boot mode:(3,6)
wdt reset
load 0x4010f000, len 1384, room 16
tail 8
chksum 0x2d
csum 0x2d
v09f0c112
~ld
可能出了什么问题?